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1、Manipulator is now used as a industrial robots in use, the control objectives often appear often in industrial automation. Industrial automation technology has gradually matured, as mature a technology line has been rapid development in industrial automation as a separate subject. Manipulator applic
2、ation began to filter into welding, logistics, mechanical processing, and other industries. Especially at high or very low temperatures, full of poisonous gases, high radiation case, robot in similar circumstances showed great use also brings great convenience to the staff. Precisely because of this
3、 robot to get peoples attention began to be a high degree of development. Labor rates, working conditions, labor intensive aspects of promoting development. Both at home and abroad to develop the PLC (programmable logic controller) is in various special circumstances and under special conditions set
4、 for mechanical devices. Now turned on the development of the microelectronics automatic control technology and the rapid development of the trains, the success of PLC hardware software and simulation control win big and successful development, now continues to develop as a factory automation standa
5、rds. Because robots are good development of the technology makes a good optimization of productive capital, and robot shows this unique advantages, such as: has good compatibility, wide availability, hardware is complete, and programming that can be mastered in a short time, so in the context of ind
6、ustrial PLC applications became ubiquitous. Manipulator in many developed country agriculture and industry has been applied, such as the use of mechanical harvesting large areas of farmland, repeated operations on the high-speed line that uses a robotic arm, and so on. Today, the high level of autom
7、ation combined with restrictions on the manipulator development level is slightly lower than the international. The design is mainly arm welding machine by PLC Automation control. This of design let designers on in school by learn of has a must of consolidation, understand has some usually didnt opp
8、ortunities awareness in world range within some leading level of knowledge has has must awareness, hope designers can in yihou of design in the can success of using in this design in the proceeds of experience 1.2 manipulator in both at home and abroad of research profile automation mechanical arm r
9、esearch began Yu 20th century medium-term, after years with with computer and automation technology of development, Makes mechanical arm on the Grand stage of industrial automation and shine, gradually became an industrial evaluation standards, and its importance can be seen. Now original robotic ar
10、m spent most of mass production and use on the production line, which is programmed robotic arm. As the first generation of manipulator position control systems main features, although not back several generations that can detect the external environment, but can still successfully complete like wel
11、ding, painting, delivery as well as for materials simple movements. Second generation mechanical arms are equipped with sensors and manipulators have the environment there is a certain amount of sense, when the mechanical arm is to use the program as a basis. Difference is that the robot begand宁杭客运专
12、线3标明洞施工工艺明洞施工工艺一、 工艺概述本工艺适用于本标段内所有隧道明洞施作。二、 作业内容作业内容包括：明洞开挖、边坡锚喷网临时支护、明洞衬砌施工、明洞防水层施工、明洞回填。三、 质量标准与检验方法（一）质量标准客运专线铁路隧道工程施工质量验收暂行标准客运专线铁路隧道工程施工技术指南施工图设计文件（二）检验项目1.明洞开挖断面的中线和高程应符合设计要求。检验方法：尺量和仪器测量。2.明洞基础地质情况和地基承载力应满足设计要求。检验方法：做静力触探或标准贯入检测3.明洞基础底部应无积水、虚碴及杂物。检验方法：观察。4.明洞基底加固范围和方法应符合设计要求。检验方法：按国家现行建筑地基基础工
13、程施工质量验收规范（GB50202）和客运专线铁路路基工程施工质量验收暂行标准（铁建设2005 160号）的有关规定进行检验。5.明洞开挖断面尺寸应符合设计要求。检验方法：仪器测量。6.明洞衬砌模板台车、移动台架设计制造时必须以隧道设计断面为准，应考虑施工误差、贯通测量调差及预留沉落等因素。钢结构及钢模必须具有足够的强度、刚度和稳定性。检验方法：查设计资料、产品验收合格证明。7.模板安装必须稳固牢靠，接缝严密，不得漏浆。模板与混凝土的接触面必须清理干净并涂刷隔离剂。浇筑混凝土前，模板内的积水和杂物应清理干净。 检验方法：观察。8.拱圈混凝土强度应达到设计强度的100%且拱顶回填土高度达到0.7
14、m时，方可拆除明洞拱架。 检验方法：拆模前进行一组同条件养护试件强度试验。9. 拆除非承重模板时，混凝土强度不得低于2.5MPa，并应保证其表面及棱角不受损伤。 检验方法：观察，检查施工记录。10.钢筋进场检验、品种和规格、连接方式的检验、钢筋接头的技术条件和外观质量的检验、钢筋加工的检验、钢筋安装和保护层厚度、钢筋接头设置的检验、钢筋外观质量的检验必须符合客运专线铁路隧道工程施工质量验收暂行标准的规定。11.混凝土所用的原材料的检验必须符合客运专线铁路隧道工程施工质量验收暂行标准的规定。12.明洞混凝土结构进水孔、泄水孔、泄水槽的位置、间距和尺寸应符合设计要求。检验方法：仪器测量、尺量。13
15、.明洞混凝土结构外形尺寸的检验应符合本标准第7.4.23条的规定。14.明洞衬砌预埋件和预留孔洞的允许偏差应符合表1的规定。表1 预埋件和预留孔洞的允许偏差和检验方法序号项 目允许偏差（mm）检验方法1预留孔洞中心线位置10尺量尺寸+100002预埋件中心线位置3 15.明洞混凝土结构表面应密实平整、颜色均匀，不得有露筋、蜂窝、孔洞、疏松、麻面和缺棱掉角等缺陷。 检验方法：观察。16.卷材防水层所用卷材的性能指标应符合设计要求。 检验方法：检查全部产品合格证、质量证明文件，对材料的拉伸强度、断裂伸长率、低温柔度、低温弯折性、不透水性等性能进行试验。17.粘贴各类卷材必须使用与卷材性相容的胶粘剂
16、，胶粘剂的性能指标应符合设计要求。 检验方法：检查全部产品合格证、质量证明文件，对材料粘结剥离强度、浸水168h后的粘结剥离强度保持率等性能进行试验。18.卷材防水层铺设及其在转角处和变形缝等细部做法应符合设计要求。 检查方法：观察。19.防水卷材铺贴时，应顺流水方向进行，上部压住下部，2幅卷材短边和长边的搭接宽度均不应小于150mm，采用双层卷材的接缝应错开1213幅宽，且2幅卷材不得垂直铺贴。卷材铺贴后不得有滑移、翘边、起鼓和损伤等现象。检查方法：观察和尺量。20.卷材防水层的基层应牢固，基面应洁净、平整，不得有空鼓、松动、起砂和脱皮现象。基层阴阳角处应做成圆弧形。 检查方法：观察。21.
17、卷材防水层的搭接缝应粘（焊）接牢固，严密，不得有皱折、翘边和空鼓等缺陷。 检查方法：观察。22.卷材防水层的保护层应符合设计要求，保护层与防水层应粘结牢固，厚度均匀一致。 检查方法：观察。22.明洞墙背回填应符合下列规定： 1 由墙顶起坡开挖时，墙背超挖回填应用与边墙强度等级相同的混凝土一次浇筑。2 由墙底起坡开挖或在已成路堑增建明洞时，墙背回填应按设计要求办理3 偏压及单压式明洞靠山侧墙背回填应符合设计要求。 检验数量：施工单位、监理单位全部检查。 检验方法：查对设计图，观察、检查施工记录。23.明洞顶回填高度、坡度、回填材料和粒径应符合设计要求。 检验方法：观察和尺量。24.明洞顶回填土密
18、实度应符合设计要求。 检验方法：施工单位做静力触探试验，监理单位进行见证试验。25.明洞墙后排水设施应符合设计要求并与墙背回填同时施工，确保渗水顺畅排出。 检验方法：观察。26.明洞拱背回填应对称分层夯实，每层厚度不宜大于0.3m，其两侧回填的土面高差不得大于0.5m。 检验方法：观察。四、 施工准备（一）技术准备1.熟悉施工图纸，确保明洞开挖尺寸、明洞二次衬砌高程、中线、各预埋件符合设计要求。2.编制方案，进行施工工艺设计，并对操作人员进行培训，向有关人员进行安全及技术交底。（二）材料准备1.原材料进场必须对质量指标进行全面检查，按批抽取作试验。2.检查施工机械设备确保设备正常运行，达到要求
19、。五、 施工机械及工艺装备施工机械及工艺装备见表5-1施工机械及工艺装备。表5-1 施工机械及工艺装备表序号机械装备数量备注1挖掘机22装载机23自卸车64风枪（YT-28）205湿喷机26液压衬砌台车17电焊机48地泵18气焊29捣固棒4六、 工艺控制流程明洞施工工艺流程见图6-1。明洞开挖边坡支护浇筑仰拱填充砼台车支撑固定绑扎钢筋 安设外模挡头模板浇筑混凝土 施做明洞防水层明洞回填图6-1 隧道明洞施工工序图七、 工艺步骤说明（一）明洞采用明挖法施工，边坡按设计坡比开挖，并施做锚喷网防护。明洞施工应尽量避开雨季，并应线做好边仰坡外的截（排）水沟及洞口排水、截水处理。截（排）水沟中线距边仰坡
20、开挖边缘不小于5m。（二）仰拱砼施工在仰拱砼施工时，要将隧底的杂物清理干净，先浇筑仰拱防水砼，砼要严格按照批复的配合比拌制，浇筑采用砼输送泵，要注意对砼的及时振捣，且不得出现过振、漏振等现象。砼浇筑要连续，无特殊情况严禁中途停止。如因固停止，要及时的对砼接茬部位进行人工凿毛，并插入适量的预留钢筋。拱圈砼浇筑完成初凝后再进行填充的浇筑，在浇筑填充砼时要注意将行车线两侧的排水沟、电缆沟等位置砼不得侵入。砼浇筑完成后要及时养护，仰拱砼的养护可采用履盖土工布（膜）浇水养护，养护时间不得小于7天。（三）模板台车定位明洞衬砌施工采用整体式模板台车一次性浇筑。台车定位要借助测量仪器，要用全站仪将隧道衬砌中心
21、线测出，并用钢钉钉点做好标记，找出衬砌台车的中心，用吊垂找出台车中心线与衬砌中心线的偏差后进行调整，直至两中心线重合。再用水平仪测出衬砌台车中心顶面的标高，算出与衬砌中心顶面标高的差值后调整高度。分别测出左右两个脚点的方位，与设计方位对比，找出差值后进行调整。至此，台车的位置就定位完成。将台车的支撑螺旋杆全部撑开并扭紧，每根螺旋杆必须都由专人负责检验，以防松动（砼浇筑过程中也要不定时的进行检验）。绑扎钢筋完毕后用钢模板将台车端头封闭，封闭后的端头要密合，不能出现较大的缺口，要保证砼施工过程中，外模及堵头模板不漏浆。（四）明洞砼的浇筑与养护所有工作都准备完毕后，便可施工衬砌砼。将台车上所有的小窗
22、口全部打开，从衬砌台车的一侧接入砼输送泵的输送管道，调试砼搅拌设备及砼配合比后开始浇筑。砼在台车的一侧浇筑高度在大于3米后，便要将管道转移到台车的另一侧，以平衡砼自重所带来的偏压力，防止将台车挤压偏位，造成胀模。砼入模后要及时的振捣，振捣时间要适中，不能太长也不能太短，以免造成砼离析或不密实。在施振过程中要注意对预留及预埋件的保护，以免将其损坏，失去作用。在弧顶部位的砼可采用附着式振捣器对其进行的振捣。在施工过程中要保证砼的坍落度及良好的流动性以填充拱部的剩余空间。砼施工完成后，要在规定的时间内进行拆模，以防止时间过长，砼附着于模板表面，不易拆除，最终导致粘连，影响砼表面的美观。泵送混凝土的拆
23、模待混凝土强度达到8MPa后进行。砼拆模后，要及时的对其进行养护，以保证砼的强度按期增长。在实际施工中，可采用洒水养护。待砼强度达到要求时，方可取消对砼的养护。（五）明洞防水层施工明洞施工所用的防水材料与二次衬砌类似，即：环向肓沟、纵向排水管，EVA防水卷材等。铺设顺序及技术要点如下：按设计位置预留纵向HDPE107/93双壁打孔波纹管与横向HDPE107/93双壁打孔波纹管，横向HDPE107/93双壁打孔波纹管沿隧道前进方向每8米布置一道，引入纵向排水沟。纵向HDPE107/93双壁打孔波纹管按隧道通长布置。纵向排水管与横向排水管之间用三通接头联接。接头要联接牢固并密封，以防浇筑砼时砂浆渗
24、入将管道堵塞，影响排水质量。沿拱环向每8米铺设一道12*3.5的塑料肓沟（与横向排水管在一个断面上），与两拱脚处纵向双壁打孔波纹管相接，接头处用三通联接，三通接头要连接牢固，并密封。在渗水量较大或过于集中的部位，可适当加密肓沟的布设间距。上述工作完成后，对其质量进行细致检查，主要检查布设间距、数量、接头的密封程度。达到要求，方可进行防水卷材的铺设。（六）洞顶回填绿化及排水系统在明洞及洞门砼施工完成后，待砼的28天抗压强度达到设计要求，便可对明洞进行回填。洞顶回填的材料应选用均匀的碎石土，回填时要分层回填并压实，因不宜在明洞衬砌上施加过大压力，故压实工具应选用小型机具，如打夯机。其夯实厚度及强度
25、要严格按照路基标准进行。回填的最后一层为耕植土，主要为日后的绿化工作做好准备。故耕植土可采用松铺。洞顶要做好排水系统，如洞顶排水沟等，保障洞顶排水顺畅，无积水，便可减轻洞内的防排水压力。达到综合防排的效果。八、 作业组织明洞施工作业组织安排见表8-1。 表8-1 明洞施工人员组织表工班名称人数担负主要任务管理及技术人员14工程的各种管理协调、技术工作掘进工班80钻眼、装药、爆破或人工开挖等支护工班30超前小导管、锚杆、钢筋网、钢架安设，喷射混凝土作业等衬砌钢筋工程10衬砌钢筋绑扎防水板工班8防水板焊接、吊挂混凝土工班30衬砌台车就位、混凝土灌筑、拆模；仰拱、填充、 底板混凝土施工；水沟电缆槽的
26、施工等运输队12出碴、运输、调度、维修、保养等铺底填充16综合保障队12风、水、电及其设备维修、保养，道路养护钢结构加工队10各种钢结构加工及预制其他6小计228根据工作面的具体情况，人员可作机动调整九、 施工安全与环境保护（一） 施工人员进场施工必须佩戴安全帽。（二） 施工作业面设置安全警示标志提醒过往车辆减速慢行。（三）施工时电缆线、捣固棒把线要理顺，布置在合适的位置，配电箱放置位置及用电要符合安全规范要求。（四）施工机具和材料应在收班前清理，工完料清、场地清。（五）施工过程中产生的污水废料要收集至指定地点处理。manipulator control mode and programmab
27、le controllers introduction 2.1 Select discussion with manipulator control 2.1.1 classification of control relays and discrete electronic circuit can control old industrial equipment, but also more common. Mainly these two relatively cheap and you can meet the old-fashioned, simple (or simple) indus
28、trial equipment. So he can see them now, however these two control modes (relay and discrete electronic circuits) are these fatal flaws: (1) cannot adapt to the complex logic control, (2) only for the current project, the lack of compatibility and (3) not reforming the system with equipment improvem
29、ents. Spring for the development of Chinas modern industrial automation technology the substantial increase in the level of industrial automation, completed the perfect relay of the computer too much. In terms of controlling the computer showed his two great advantages: (1) each of the hardware can
30、be installed on one or more microprocessors; (2) the official designer of the software writing content control is all about. Now in several ways in the context of industrial automation can often be seen in three ways: (1) Programmable Logical Controller (referred to as IPC); (2) Distributed Control
31、System (DCS for short), and (3) the Programmable Logical Controller (PLC for short). 2.1.2 PLC and the IPC and DCS contrast contrast 1, each of the three technologies of origins and development requirements for fast data processing makes it invented the computer. The men brought in terms of hardware
32、 there, using a high level of standardization, can use more compatibility tools, is a rich software resources, especially the need for immediacy in operational systems. So the computer can effectively control is used to control and meet its speed, on the virtual model, real-time and in computational
33、 requirements. Distributed system started with a control system for industrial automatic instrument used to control, whereas now it is successfully developed into industrial control computer used as a central collection and distribution system and transition of distributed control system in analogue
34、 handling, loop control, has begun to reflect the use of a huge advantage. Though distributed system has great advantages in loop regulation, but only as a means of continuous process control. Optimization of PLC is the corresponding relay needs was born, its main use in the work order control, earl
35、y primary is replaced relay this hulking system, focused on the switch controlling the running order of functions. Marked by the microprocessor in the early 1970 of the 20th century emerged, micro-electronics technology has developed rapidly, people soon microelectronics processing technology will be used in the Programmable Logical Controller (that is中铁十七局集团宁杭客运专线工程指挥部 11